Abstract: The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. ...

Abstract: This paper presents a dual quaternion methodology for the kinematic synthesis of constrained robotic systems. These systems are constructed from one or more serial chains such that each chain ...

Abstract: This paper uses the exponential defined on a Clifford algebra of planar projective space to show that the “standard-form” design equations used for planar linkage synthesis are obtained directly ...

Abstract: Three position synthesis of a spatial RR chain yields two solutions that can be assembled to form a Bennett linkage. In this paper, we show that the cylindroid associated with Bennett’s linkage ...